Police say four gunmen burst into the SP+ parking garage at 270 Greenwich Street around 4 a.m.
Authorities say they entered parked and unattended vehicles inside the garage that had their respective keys left in the ignition.
One of the suspects held a parking attendant at gunpoint while the cars were being stolen.
They made off northbound on West Street with two Audi sedans, a BMW X5 SUV and a Range Rover.
The parking attendant was not injured.
The cars have not been recovered.
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